string pathid
string waypoint_id
uint32 task_id
float64 target_speed
float64 target_omega # 目标角速度（用于计算自旋点）
float64 distance
float64 curvature # 曲率
string fun_attribute
float64 amr_angle
string angle_type
string move_direction
bool is_rotate

geometry_msgs/Pose pose
geometry_msgs/Pose loc_pose